Image pre-processing sub-system

Abstract

An image pre-processing sub-system providing very high speed image data evaluation to supply condensed, real time boundary linkage data to a controlling computer of an operational system. The sub-system provides for an electronic video camera capable of the operations on an image of aiming, magnifying, and rotationally orienting. The camera direction, magnification and orientation control from the system computer results from visual image processed feedback from the image pre-processor with user tailored software providing the desired responses. Dual sub-systems, or a single sub-system at two sequentially different locations, provides triangulation information necessary for high speed distance measurements of objects from the camera. Visual data, detected by the camera, are processed to locate image boundaries, to filter noise, to enhance the boundary, to provide linkage boundary information, to provide texture data, and to provide shades of gray data to the computer in a condensed form. The sub-system adjustable magnification and rotation capability, of selected sub-areas of the full image, permit very high resolution image evaluation compatible with template matching techniques for object identification or inspection operations.

What is claimed is: 
     
       1. Apparatus for processing image data to condense the data to a smaller amount of data, the apparatus comprising: means for receiving data from an image data generator;   means for comparing data from two spatially related regions of the image spaced apart by more than one region and for generating an output based upon that comparison, the output having a first state and a second state;   means for responding to the output of the comparing means for causing at least part of the data from the spatially related regions of the image to be discarded in response to the first state of the output and for causing at least part of the data from the spatially related regions of the image not to be discarded in response to the second state of the output;   means for coupling the means for comparing data from spatially related regions and for generating an output to the means for receiving data; and   means for coupling the means for responding to the output of the comparing means to the comparing means.   
     
     
       2. Apparatus according to claim 1 wherein the means for receiving data from an image data generator comprises means for conditioning data received from an image data generator. 
     
     
       3. Apparatus according to claim 2 wherein the means for conditioning data received from an image data generator comprises an analog-to-digital (A/D) converter. 
     
     
       4. Apparatus according to claim 1 wherein the regions are pixels and the means for comparing data from spatially related regions of the image comprises means for comparing data from pixels separated by an integral number of pixels greater than or equal to one. 
     
     
       5. Apparatus according to claim 4 wherein the pixels together form the image having first and second dimensions and the means for comparing data from spatially related regions of the image comprises means for comparing data from pixels separated by an integral number of pixels greater than or equal to one in the first dimension. 
     
     
       6. Apparatus according to claim 5 wherein the means for comparing data from spatially related regions of the image comprises means for comparing data from pixels separated by an integral number of pixels greater than or equal to one in the second dimension. 
     
     
       7. Apparatus according to claim 1 wherein the means for comparing data from spatially related regions of the image and for generating an output based upon that comparison comprises means for generating an output when the compared data evidences a light-to-dark transition. 
     
     
       8. Apparatus according to claim 7 wherein the means for comparing data from spatially related regions of the image and for generating an output based upon that comparison comprises means for generating an output when the compared data evidences a dark-to-light transition. 
     
     
       9. Apparatus according to claim 1 wherein the means for comparing data from spatially related regions of the image and for generating an output based upon that comparison comprises means for generating an output when the compared data evidences a dark-to-light transition. 
     
     
       10. Apparatus according to claim 1 and further comprising means for storing data and for permitting retrieval of stored data; and means for coupling the means for storing data and permitting retrieval of stored data to the means for responding to the output of the comparing means;   the means for responding to the output of the output of the comparing means for causing at least part of the data from the spatially related regions of the image to be stored in the means for storing data in response to the second state of the output.   
     
     
       11. An apparatus for processing image data to condense the data to a smaller amount of data, the apparatus comprising: means for receiving data from an image data generator;   means for comparing data from spatially related pixels of the image and for generating an output based upon that comparison, the output having a first state and a second state, the means for comparing data from spatially related pixels comprising means for comparing data from pixels separated by an interval of seven pixels;   means for responding to the output of the comparing means for causing at least part of the data from the spatially related pixels of the image to be discarded in response to the first state of the output and for causing at least part of the data from the spatially related pixels of the image not to be discarded in response to the second state of the output;   means for coupling the means for comparing data from spatially related pixels and for generating an output to the means for receiving data; and   means for coupling the means for responding to the output of the comparing means to the comparing means.   
     
     
       12. Apparatus according to claim 1 wherein the comparing means compares the intensity difference between the two spatially related regions to a predetermined threshold level, the output generating means providing the first state output when the difference is smaller than the predetermined threshold level and providing the second stat output when the difference is larger than the predetermined threshold level to provide an indication of a contrast between the two spatially related regions. 
     
     
       13. Apparatus according to claim 12 wherein a first predetermined number of comparisons by the comparing means provides a comparison span and the means for responding to the output of the comparing means provides a boundary indication only when a second predetermined number of contrast indications smaller than the first predetermined number occurs within the comparison span. 
     
     
       14. Apparatus according to claim 13 wherein the first predetermined number of comparisons in the comparisons span is equal to seven, and the second predetermined number of contrast indications is equal to four, so that upon the first occurrence of four indications of contrast out of seven consecutive samples, a boundary indication will be generated by the responding means.